Copter: 4.0 issues list

[rmackay9]

This is a list of issues discovered during Copter-4.0 testing:

Common support problems:

• [ ] users can't figure out which barometer is being used (discussion)
• [ ] users can't figure out if Oneshot or DShot are working (discussion, wiki issue, discussion2, possible improvement)
• [ ] two reports of barometer glitches on CubeOrange (discussion), one report on Pixhawk-2.4.8 (discussion)

Regressions from 3.6.x:

• [ ] autotune method for testing gains has changed (discussion)
• [ ] logging is skipping messages (issue)
• [ ] performance regressions which lead to more long loops (timings)
• [ ] speedybee telem5 not working? (discussion)
• [ ] sparky2 doesn't work with UAVCAN? (discussion)
• [ ] kakutef7 not working with px4flow sensor (discussion, issue)
• [ ] DCM yaw inconsistent pre-arm message (discussion, discussion2, PR)

New for 4.0.4:

• [x] PreArm failure if UAVCAN compass removed (issue)
• [x] LIS3MDL missing (PR)
• [ ] NeoPixel causes EKF instability (discussion)
• [ ] CubePurple has no heater but still has BRD_IMU_TARGTEMP param (discussion)
• [x] Compass ordering issue found by HenryW, AndyP (i.e. "unstable sort" of unused compass offsets) (possible fix)
• [x] AP_Proximity ignore zones incorrect (PR with fix)

Other issues:

• [ ] MAVFTP with MP locks up creating or deleting new folders (AP issue, MP issue)
• [ ] watchdog reset on Copter-4.0.3 (issue)
• [ ] DShot on KakuteF7 (issue)
• [ ] param download stuck using MP is lua scripts enabled on CubeBlack (discussion)
• [ ] MAVFTP still locking up? (issue)
• [ ] Watchdog reset not creating log files (issue)
• [ ] TFMiniPlus Glitches (issues, possible fix)
• [ ] dual CAN compass order changing (discussion)
• [ ] can't flash kakutef7 aio from QGC (issue)
• [ ] BLHeli passthrough still not reliable on CubeOrange (discussion)?
• [ ] vibration failsafe unable to bring down vehicle? (discussion)
• [ ] blended mRo LocationOne GPSs (using AP_Periph, UAVCAN) produce internal error 400 (discussion, wiki issue, issue)
• [ ] neopixel sync loss (discussion, issue)
• [ ] UAVCAN ESCs keep spinning even if vehicle is disarmed (discussion, issue)
• [ ] kakutef7 not detecting external bmp280 baro? (discussion)
• [ ] baro temp compensation not working? (discussion)
• [ ] neopixels not working on some boards at least? (discussion)
• [ ] kakutef7 aio doesn't detect hmc5883 (discussion)
• [x] durandal buzzer (discussion)
• [ ] frsky passthrough not working on some H7 boards (discussion)
• [ ] twitch when "IMU yaw alignment complete" is displayed while vehicle is moving (3.6.12) (discussion)
• [ ] LIS3MDL driver not enabled on KakuteF7 (discussion, issue)
• [ ] Object Avoidance issues:
  • [ ] Dijkstra's doesn't support spline waypoints (issue: https://github.com/ArduPilot/ardupilot/issues/12691)
  • [ ] MP complex fence support is not complete
• [ ] dshot600 is not working on MatekF765 (rover discussion)
• [ ] dshot125 is not working on Navio2 (discussion)
• [ ] autotune gets stuck while tuning yaw if ATC_RAT_YAW_FLTE = 0 (reported by leonard)
• [ ] motor emergency stop RC channel range changed (discussion)
• [ ] log download slows down when CAN enabled? (discussion)
• [ ] navio2 LEDs not lighting up (discussion)
• [ ] drift-away with WPNAV_ALT_MIN (issue, possible fix)

Resolved in Copter-4.0.4:

• [x] Hott telemetry not working (issue, possible fix PR)
• [x] Loiter-Turns mission command does not face towards center (issue, possible fix)
• [x] Dijkstra memory issue (possible fix)
• [x] extra RC input channel (actually Copter-3.6.12, issue) -- RFD900x software issue - not AP.
• [x] parameters wiped occasionally (happens on 3.6.x as well) (issue, fix)
• [x] landing gear retract after takeoff mission command completes (discussion, possible fix)
• [x] Mavlink Gimbal limits not being applied? (discussion, possible fix)
• [x] Object Avoidance issues:
  • [x] re-visit object database sizes: https://github.com/ArduPilot/ardupilot/issues/12661 (fixed in master)
  • [x] BendyRuler cannot maintain altitude (Randy found this during tests) (fixed in master)

Resolved in Copter-4.0.3:

• [x] BLHeli passthrough doesn't work on CubeOrange (discussion, possible fix) and pixhawk mini?
• [x] watchdog on 1st SBUS RC input (discussion, issue, fix)
• [x] zigzag motors don't spin when landed (issue, possible fix) and lurching (issue)?
• [x] CUAVv5+ autopilot cannot connect using USB port? (discussion, discussion2, driver solution, solution to fix usb ids)
• [x] allow do-set-servo commands to affect at least some non-motor channels (discussion, possible fix)

Resolved in Copter-4.0.2:

• [x] MAVFTP causes reboot (issue)
• [x] Spektrum DX8 not working on pixracer (discussion, issue)
• [x] RTL may return at incorrect alt (issue, possible fix)
• [x] log file reliability on non-SD card boards like open-revo, omnibus (discussion)
• [x] SBUS lag (discussion, fixed along with ESC sync issues)
• [x] ESC sync issues (discussion, issue, issue2)
• [x] AutoTune incorrectly restores yaw acceleration (issue, possible fix)
• [x] px4flow doesn't work on CubeBlack (discussion, fix)
• [x] AP_RangeFinder PWM driver not using OFFSET parameter (discussion, issue, possible fix)

Resolved in Copter-4.0.1:

• [x] need to update tuning process guide with new filter params (discussion)
• [x] spectrum 22ms broken? (https://discuss.ardupilot.org/t/mro-r15-pixracer-incompatible-with-arducopter-v-4/50702)
• [x] optical flow output not being sent to GCS (discussion, possible fix)
• [x] onboard SSD1306 not working with CubeOrange (discussion, issue)
• [x] kakutef7mini watchdog resets (discussion) (resolved with FrSky Telemetry Status Text fix)

Resolved in Copter-4.0.0-rc5:

• [x] RM3100 compass not enabled (it's on a DroTek F9P Sirius GPS unit) (PR, discussion)
• [x] Arming with Here2 CAN GPS fails due to bad HDOP (discussion, fix) -- fixed in -rc3
• [x] autopilot is not booting up sometimes (discussion, fix)
• [x] GPS not working on some boards (possible fix)
• [x] missing serial ports on some boards (possible fix)

Resolved in Copter-4.0.0-rc3:

• [x] sysid needs enable param (issue, possible fix)
• [x] user can force arming in Loiter with no position estimate (issue, possible fix)
• [x] rangefinder parameters not being copied from 3.6. to 4.0 (issue, possible fix)
• [x] neopixel not working (discussion)
• [x] altitude hold oscillation with CubeOrange (discussion, fix)
• [x] rename RangeFinder_TYPE "25:Benewake TFmini Plus” to “Benewake TFmini Plus IIC” or “Benewake Plus IIC” (discussion)
• [x] LandingGear: RETRACTED message where then are not gear setup (issue)
• [x] Auto may become stuck on Takeoff command if range finder is enabled and large altitude error (issue)
• [x] "Geofence breached" messages when no polygon fences available. Potential Fixed: https://github.com/ArduPilot/ardupilot/pull/12724
• [x] can't calibrate compasses (discussion) -- older Here GPS with longer boot time, resolved by setting BRD_BOOT_DELAY = 400.

Resolved in Copter-4.0.0-rc2:

• [x] Sparky2 build is broken, overflows flash by1084 bytes. This can be seen in the autotest output. Fixed with https://github.com/ArduPilot/ardupilot/pull/12678
• [x] PSC_ACCZ_FILT should be converted to PSC_ACCZ_FLTE on upgrade. Fixed with https://github.com/ArduPilot/ardupilot/pull/12687
  • [x] QGC upload of fences is rejected because of mav frame (qgc issue: https://github.com/mavlink/qgroundcontrol/issues/7960, AP fix:https://github.com/ArduPilot/ardupilot/pull/12665)
• [x] blank PreArm message on newly setup vehicles: https://github.com/ArduPilot/ardupilot/issues/11800. Fixed:https://github.com/ArduPilot/ardupilot/pull/12690
• [x] loss motor detection bug (reported by leonard) fixed:https://github.com/ArduPilot/ardupilot/pull/12697
• [x] loss of yaw control on fast descent (from Sergey here). Fixed: https://github.com/ArduPilot/ardupilot/pull/12696, https://github.com/ArduPilot/ardupilot/pull/12700
• [x] fly away caused by high gains and mot-mix-max set too high (reported by leonard). Fixed:https://github.com/ArduPilot/ardupilot/pull/12701
• [x] BLHeli telemetry causes internal error 0x8000 (https://github.com/ArduPilot/ardupilot/issues/12542) potentially fixed by PR #12677
• [x] Shaky copter due to filtering changes
• [x] Garmin LidarLite PWM interface doesn't work: https://github.com/ArduPilot/ardupilot/issues/10111#issuecomment-546627151. User settings were non-standard, updated wiki page

Could not be verified OR not a problem:

• [x] Emlid CAN compass not found with CubeOrange (discussion) unless BRD_BOOT_DELAY = 5000. Only affected one user, waiting for more reports.
• [x] blue screen of death on Windows machines when using usb2 (discussion). Affects only this user, could not be reproduced.
• [x] MiniPix current sensing not working (discussion). User worked it out.
• [x] constant GCS failsafes because crossfire telem sends heartbeat at 0.2hz (discussion) -- telemetry system issue
• [x] rm3100 not found (discussion)
• [x] DJIX quad motor order is CCW instead of CW (discussion)
• [x] benewake jumps to 0.3m when actually 19m ~ 20m (discussion) -- benewake suggests a sensor setting change to resolve
• [x] complaints that RNGFND and BATT_MONITOR param conversions not working but cannot be reproduced (discussion, issue)
• [x] omnibus f4pro can't write wp or parameters on serial1 (discussion)
• [x] rangefinder can't be used as EKF_ALT_SOURCE? (issue, discussion) -- Randy tested and found EK2_ALT_SOURCE worked if EK2_RNG_USE_HGT was set to 70.
• [x] can't get IBUS RC to work (discussion)
• [x] compass1,2 not used but still checked as part of pre-arm consistency? (discussion)

[tridge]

fix for #12542 here: https://github.com/ArduPilot/ardupilot/pull/12677

[tridge]

fix for sparky2 here: https://github.com/ArduPilot/ardupilot/pull/12678

[andyp1per]

It's not true to say dshot600 isn't working - it's working for me fine, must be hardware specific.

[GlidLov]

today i tried a large quad with cube 2.1, copter 4.0 stable and a Drotek Sirius F9P + RM3100 compass. Same quad had here2 (m8p) and 3.6.9 previously working ok. Well there's something weird about compass. although it's correctly calibrated, it show ground mag anomoalies while still on ground (sometimes, not even always, let say 4 times out of 5) and does a "ground mag anomaly, inflight yaw allignment" just after take off. Sometime it happened with M8P in the past also, but it was a more consistent and predictable way, and way less often. Just a little toilet bowl, then message of the inflight yaw realignment and it was ok. The thing is that with the new setup, it does toilet bowl heavily when in loiter, then i revert back to stabilize, back in loiter, and then much less toilet bowl, then again stabilize and loiter, and then it "clicks in" and does a proper loiter. Sometime it takes four of that cycles to click in. Oncle "clicked", it will do OK for the rest of the flight. Then Land, cycle power, and again heavy toilet bowl, ground mag anomaly, etc.... I think it's something with the RM3100 driver. Satellites are doing ok, i even reached a personal record of 32 sat / 0.4 hdop fix with that!

[rmackay9]

@GlidLov, thanks for the report. Could you raise a new topic in the Copter-4.0 forum and if possible include an onboard log file? This will make the analysis and communication re this report much easier, thanks!

P.S. I suspect it's interference on the compass from the motors/ESC/powerwires but it will become clear with an onboard log.

[GlidLov]

@GlidLov, thanks for the report. Could you raise a new topic in the Copter-4.0 forum and if possible include an onboard log file? This will make the analysis and communication re this report much easier, thanks!

P.S. I suspect it's interference on the compass from the motors/ESC/powerwires but it will become clear with an onboard log.

well, i just discovered a potential mistake (still investigating): i suspect i'm not using the RM3100 but the infamous internal compass of the CUBE. This is because i have sirius gps plugged into Telem2 (not working in the GPS2 port) which does not have an I2C port. i will have a look into logs later today.

[lukezhqin]

@rmackay9 I really hope you guys would kindly review this issue #13251 which I've already open this PR #13102 though a long time ago. Many thanks. I wish this wp_nav issue would be fine solved before our offical version 4.0 for Copter released although my PR may seems to be so rude and not yet enough elegant but which did work well.

[anbello]

I added a comment on https://github.com/ArduPilot/ardupilot/issues/12991 (EKF is not using RangeFinder when EK2_RNG_USE_HGT > 0, EK2_ALT_SOURCE = 0) I think it may be of interest.

[omegaretro]

I compiled a 4.0.4 master for the pixhawk1-1m, but the rm3100 is not being listed in the compass_typemask which may have been canceled during the compilation appears the rm3100 being compiled

[andyp1per]

Acro is broken in 4.0.4 from https://github.com/ArduPilot/ardupilot/commit/7fe700b738902c31a8a67919be3ca18bd2323cfa there is a typo:

g.acro_rp_p = constrain_float(g.acro_rp_p, 0.0f, 1.0f); should instead be g.acro_rp_expo = constrain_float(g.acro_rp_expo, 0.0f, 1.0f);

[rmackay9]

@andyp1per, thanks for finding this. I guess not many beta testers fly acro! FYI @lthall.

[amilcarlucas]

@rmackay9 can you please add : https://discuss.ardupilot.org/t/downloading-dataflash-logs-doesnt-work-in-with-copter-4-0-5/65620 to the list